World Models

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153 papers in the last four weeks, up 178% on the four weeks before. 1.5% of all new papers.

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3D-Belief: Embodied Belief Inference via Generative 3D World Modeling
May 12, 2026Yifan Yin, Zehao Wen, Suyu Ye +103D World 3D Scene Generation
Johns Hopkins University · Lambda · University of Cambridge
HarmoWAM: Harmonizing Generalizable and Precise Manipulation via Adaptive World Action Models
May 11, 2026Qiuxuan Feng, Jiale Yu, Jiaming Liu +8Efficient World-Action Model World Models
State Key Laboratory of Multimedia Information Processing, School of Computer Science, Peking University · The Chinese University of Hong Kong · Simplexity Robotics
Is Your Driving World Model an All-Around Player?
May 11, 2026Lingdong Kong, Ao Liang, Tianyi Yan +20Video World Models World Models
NUS · UM · USTC +10
PhyGround: Benchmarking Physical Reasoning in Generative World Models
May 11, 2026Juyi Lin, Arash Akbari, Yumei He +13Generative Video Models Long-Video Benchmarks
1Northeastern University · 2Tulane University · University of Washington +1
CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Driving
May 11, 2026Minqing Huang, Yujiao Xiang, Zihan Liang +7Autonomous Driving Action Generation
Afari Intelligent Drive · University of Electronic Science and Technology of China · Shanghai Jiao Tong University +2
How Mobile World Model Guides GUI Agents?
May 11, 2026Weikai Xu, Kun Huang, Yunren Feng +10World Models Graphical User Interface Agents
1Nanyang Technological University · 2MiLM Plus, Xiaomi Inc. · 3Independent Researchers +3
Network-Efficient World Model Token Streaming
May 11, 2026Shatadal Mishra, Ahmadreza Moradipari, Nejib AmmarWorld Models Rate-Distortion Theory
InfoTech Labs, Toyota Motor North America R&D, Mountain View, CA, USA
Workspace Optimization: How to Train Your Agent
May 10, 2026Elad Sarafian, Gal Kaplun, Ron Banner +2Workspaces Agent Harness
NVIDIA · NVIDIA & Technion
Sub-JEPA: Subspace Gaussian Regularization for Stable End-to-End World Models
May 10, 2026Kai Zhao, Dongliang Nie, Yuchen Lin +4Joint-Embedding Predictive Architectures Latent World Models
1Shanghai University · 2The University of Manchester · 3Nankai University
Latent Geometry Beyond Search: Amortizing Planning in World Models
May 9, 2026Hoang Nguyen, Xiaohao Xu, Xiaonan HuangLatent World Models World Models
Department of Robotics, University of Michigan, Ann Arbor
Probing the Impact of Scale on Data-Efficient, Generalist Transformer World Models for Atari
May 9, 2026Jooyeon KimWorld Models Scaling Laws
Graduate School of Artificial Intelligence UNIST
ACWM-Phys: Investigating Generalized Physical Interaction in Action-Conditioned Video World Models
May 9, 2026Haotian Xue, Yipu Chen, Liqian Ma +4Efficient World-Action Model Video World Models
Georgia Institute of Technology
One Token Per Frame: Reconsidering Visual Bandwidth in World Models for VLA Policy
May 8, 2026Zuojin Tang, Shengchao Yuan, Xiaoxin Bai +4Diffusion-Based Vision-Language-Actions World Models
Zhejiang University · Central South University · Harbin Institute of Technology +2
NoiseGate: Learning Per-Latent Timestep Schedules as Information Gating in World Action Models
May 8, 2026Wen Huang, Haoran Sun, Yongjian Guo +8Efficient World-Action Model World Models
Tsinghua University · Peking University · JDT AI Infra +1
Is the Future Compatible? Diagnosing Dynamic Consistency in World Action Models
May 8, 2026Bo-Kai Ruan, Teng-Fang Hsiao, Ling Lo +1World Models Robotwin
National Yang Ming Chiao Tung University
ST-Gen4D: Embedding 4D Spatiotemporal Cognition into World Model for 4D Generation
May 8, 2026Haonan Wang, Hanyu Zhou, Tao Gu +14D Generation Spatio-Temporal Reasoning
School of Artificial Intelligence and Automation, Huazhong University of Science and Technology · School of Computing, National University of Singapore · School of Computing, Macquarie University
Sword: Style-Robust World Models as Simulators via Dynamic Latent Bootstrapping for VLA Policy Post-Training
May 8, 2026Jiaxuan Gao, Yongjian Guo, Zhong Guan +5World Models Reinforcement Learning Post-Training
Tianjin University · Tsinghua University · Swinburne University of Technology +1
Predictive but Not Plannable: RC-aux for Latent World Models
May 8, 2026Wenyuan Li, Guang Li, Keisuke Maeda +2Latent World Models World Models
Hokkaido University
Three-in-One World Model: Energy-Based Consistency, Prediction, and Counterfactual Inference for Marketing Intervention
May 8, 2026Junichiro NiimiWorld Models Energy Resources
1Meijo University
Learning Visual Feature-Based World Models via Residual Latent Action
May 8, 2026Xinyu Zhang, Zhengtong Xu, Yutian Tao +3Latent World Models Latent Action Models
Rutgers University · Purdue University · University of Wisconsin-Madison
AGWM: Affordance-Grounded World Models for Environments with Compositional Prerequisites
May 7, 2026Qinshi Zhang, Weipeng Deng, Zhihan Jiang +4Efficient World-Action Model World Models
University of California, San Diego · University of Hong Kong · Columbia University +2
Reconstruction or Semantics? What Makes a Latent Space Useful for Robotic World Models
May 7, 2026Nilaksh, Saurav Jha, Artem Zholus +1Latent World Models World Models
Chandar Research Lab · Mila – Quebec AI Institute · Polytechnique Montréal +1
Render, Don't Decode: Weight-Space World Models with Latent Structural Disentanglement
May 7, 2026Roussel Desmond Nzoyem, Mauro ComiVideo World Models Latent World Models
Department of Computer Science University of Manchester Manchester, M13 9PL · Department of Computer Science University of Bristol Bristol, BS8 1QU
CKT-WAM: Parameter-Efficient Context Knowledge Transfer Between World Action Models
May 7, 2026Yuhua Jiang, Yijun Guo, Hongbing Yang +7Efficient World-Action Model Recent World-Action Models
Tsinghua University · LivsynRobotics · Shanghai AI Laboratory
When to Trust Imagination: Adaptive Action Execution for World Action Models
May 7, 2026Rui Wang, Yue Zhang, Canyang Chen +3Efficient World-Action Model World Models
Southern University of Science and Technology, Shenzhen, China · The University of Hong Kong, Hong Kong, China
HaM-World: Soft-Hamiltonian World Models with Selective Memory for Planning
May 7, 2026Haoyun Tang, Haodong Cui, Keyao Xu +2World Models Many Worlds
1Xi’an Jiaotong University · 2Huazhong University of Science and Technology · 3Nankai University +1
Executable World Models for ARC-AGI-3 in the Era of Coding Agents
May 6, 2026Sergey RodionovCoding Agents Artificial Intelligence Agents
SingularityNET
iWorld-Bench: A Benchmark for Interactive World Models with a Unified Action Generation Framework
May 5, 2026Jianjie Fang, Yingshan Lei, Qin Wan +8Video World Models World Models
Tsinghua University, China · Northeastern University, China · South China University of Technology, China
Divide and Conquer: Decoupled Representation Alignment for Multimodal World Models
May 3, 2026Junyuan Xiao, Dingkang Liang, Xin Zhou +9Multimodal Alignment Interactive Video Generation
Tsinghua University, China · Huazhong University of Science and Technology, China · CSU, China +4
Embody4D: A Generalist Data Engine for Embodied 4D World Modeling
May 3, 2026Peiyan Tu, Hanxin Zhu, Jingwen Sun +6Cross-Embodiment Transfer Embodiment
Zhejiang University · University of Science and Technology of China · Beijing Zhongguancun Academy +3
Latent State Design for World Models under Sufficiency Constraints
May 3, 2026Keon Woo KimLatent World Models World Models
Om Labs
Physically Native World Models: A Hamiltonian Perspective on Generative World Modeling
May 1, 2026Sen Cui, Jingheng MaWorld Models Long-Horizon Inference
Tsinghua University
Code World Model Preparedness Report
May 1, 2026Daniel Song, Peter Ney, Cristina Menghini +21Pre-Deployment Safety Assessments Code Generation
MSL Preparedness Team, AI Security Team
Visual Generation in the New Era: An Evolution from Atomic Mapping to Agentic World Modeling
Apr 30, 2026Keming Wu, Zuhao Yang, Kaichen Zhang +24Visual Generation World Models
1Tsinghua University · 12LMMs-Lab · 2Nanyang Technological University +9
World Model for Robot Learning: A Comprehensive Survey
Apr 30, 2026Bohan Hou, Gen Li, Jindou Jia +15World Models Scalable Robot Learning
Nanyang Technological University · University of California, Berkeley · Stanford University +6
Simulating clinical interventions with a generative multimodal model of human physiology
Apr 30, 2026Guy Lutsker, Gal Sapir, Jordi Merino +7Patient Trajectories Physiological Data
Department of Computer Science and Applied Mathematics, Weizmann Institute of Science, Rehovot, Israel. · Department of Molecular Cell Biology, Weizmann Institute of Science, Rehovot, Israel. · NVIDIA, Tel Aviv, Israel. +5
Graph World Models: Concepts, Taxonomy, and Future Directions
Apr 30, 2026Jiawei Liu, Senqiao Yang, Mingjun Wang +2World Models Inductive Bias
The Chinese University of Hong Kong, Hong Kong, China · Tsinghua University, Beijing, China
STARRY: Spatial-Temporal Action-Centric World Modeling for Robotic Manipulation
Apr 29, 2026Yuxuan Tian, Yurun Jin, Bin Yu +5Robotic Manipulation World Models
Beijing Institute of Technology · Zhongguancun Academy · Zhongguancun Institute of Artificial Intelligence +4
Unified 4D World Action Modeling from Video Priors with Asynchronous Denoising
Apr 29, 2026Jun Guo, Qiwei Li, Peiyan Li +7Faster-Wam World Models
Tsinghua University · Xiaomi Robotics · Peking University +1
Lifting Embodied World Models for Planning and Control
Apr 28, 2026Alex N. Wang, Trevor Darrell, Pavel Izmailov +2Efficient World-Action Model World Models
Computer Science, New York University · BAIR, UC Berkeley
Privileged Foresight Distillation: Zero-Cost Future Correction for World Action Models
Apr 28, 2026Pengcheng Fang, Hongli Chen, Xiaohao CaiForesight World Models
The University of Southampton · The University of Queensland
Agentic World Modeling: Foundations, Capabilities, Laws, and Beyond
Apr 24, 2026Meng Chu, Xuan Billy Zhang, Kevin Qinghong Lin +47World Models Multi-Agent Simulations
dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model
Apr 24, 2026Yaxuan Li, Zhongyi Zhou, Yefei Chen +2Robot Policies Efficient World-Action Model
Current Robotics · University of Toronto
Hi-WM: Human-in-the-World-Model for Scalable Robot Post-Training
Apr 23, 2026Yaxuan Li, Zhongyi Zhou, Yefei Chen +5Efficient World-Action Model Scalable Robot Learning
Current Robotics · Tsinghua University · Peking University +1
WorldMark: A Unified Benchmark Suite for Interactive Video World Models
Apr 23, 2026Xiaojie Xu, Zhengyuan Lin, Kang He +5Video World Models World Models
Alaya Studio, Shanda AI Research Tokyo · The University of Tokyo · Shanghai Innovation Institute
X-Cache: Cross-Chunk Block Caching for Few-Step Autoregressive World Models Inference
Apr 22, 2026Yixiao Zeng, Jianlei Zheng, Chaoda Zheng +10Autoregressive Video Diffusion Models Cache
AI Infra Team, XPeng Inc.
Cortex 2.0: Grounding World Models in Real-World Industrial Deployment
Apr 22, 2026Adriana Aida, Walid Amer, Katarina Bankovic +25Robotic Manipulation Efficient World-Action Model
Sereact GmbH
Toward Safe Autonomous Robotic Endovascular Interventions using World Models
Apr 22, 2026Harry Robertshaw, Nikola Fischer, Han-Ru Wu +6Catheters Autonomous Navigation
Surgical & Interventional Engineering, School of Biomedical Engineering & Imaging Sciences, King’s College London, UK · Department of Radiology, National Taiwan University Hospital, Taiwan · Department of Neuroradiology, King’s College Hospital, UK
UniT: Toward a Unified Physical Language for Human-to-Humanoid Policy Learning and World Modeling
Apr 21, 2026Boyu Chen, Yi Chen, Lu Qiu +3Cross-Embodiment Transfer Human-To-Robot Transfer
1XPENG Robotics · 2Tsinghua University · 3The University of Hong Kong
Mask World Model: Predicting What Matters for Robust Robot Policy Learning
Apr 21, 2026Yunfan Lou, Xiaowei Chi, Xiaojie Zhang +9Robot Policies World Models
National University of Singapore, Singapore · Beijing Academy of Artificial Intelligence, Beijing, China · The Hong Kong University of Science and Technology, Hong Kong, China +3
Safety-Critical Contextual Control via Online Riemannian Optimization with World Models
Apr 21, 2026Tongxin LiModel Predictive Control Safety-Critical Scenarios
Member, IEEE
RoboWM-Bench: A Benchmark for Evaluating World Models in Robotic Manipulation
Apr 21, 2026Feng Jiang, Yang Chen, Kyle Xu +8Video World Models Robotic Manipulation
Peking University · Tsinghua University · Lightwheel
Curiosity-Critic: Cumulative Prediction Error Improvement as a Tractable Intrinsic Reward for World Model Training
Apr 20, 2026Vin Bhaskara, Haicheng WangPrediction Error Transition Learning
Department of Computer Science, University of Toronto, Toronto, Canada.
Sonata: A Hybrid World Model for Inertial Kinematics under Clinical Data Scarcity
Apr 20, 2026Blaise Delaney, Salil Patel, Yuji Xing +3Latent World Models World Models
1TimeTrace Labs · 2NVIDIA · University of Oxford
Infrastructure-Centric World Models: Bridging Temporal Depth and Spatial Breadth for Roadside Perception
Apr 19, 2026Siyuan Meng, Chengbo AiAutonomous Driving Perception World Models
Department of Civil and Environmental Engineering, University of Massachusetts Amherst
Dual-Anchoring: Addressing State Drift in Vision-Language Navigation
Apr 19, 2026Kangyi Wu, Pengna Li, Kailin Lyu +5Vision-Language Navigation Object Goal Navigation
National Key Laboratory of Human-Machine Hybrid Augmented Intelligence, National Engineering Research Center for Visual Information and Applications, Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University · Institute of Automation, Chinese Academy of Sciences, School of Artificial Intelligence, University of Chinese Academy of Sciences · Johns Hopkins University +2
SafeDream: Safety World Model for Proactive Early Jailbreak Detection
Apr 18, 2026Bo Yan, Weikai Lin, Yada Zhu +1Jailbreak Attacks Jailbreak Success Rates
University of Central Florida · University of Rochester · IBM Research
Active World-Model with 4D-informed Retrieval for Exploration and Awareness
Apr 17, 2026Elaheh Vaezpour, Amirhosein Javadi, Tara JavidiWorld Models Exploration
KavAI · UCSD
Amortized Inverse Kinematics via Graph Attention for Real-Time Human Avatar Animation
Apr 17, 2026Muhammad Saif Ullah Khan, Chen-Yu Wang, Tim Prokosch +3Inverse Kinematics World Models
1German Research Center for Artificial Intelligence (DFKI) · 2RPTU Kaiserslautern-Landau · 3International University of Applied Sciences
Human Cognition in Machines: A Unified Perspective of World Models
Apr 17, 2026Timothy Rupprecht, Pu Zhao, Amir Taherin +20Cognitive Science World Models
Northeastern University, Boston, MA, USA · EmbodyX Inc., San Mateo, CA, USA · Tulane University, New Orleans, LA, USA +2

May 12, 2026, cs.CVJ/K move · Enter open · S save

3D-Belief: Embodied Belief Inference via Generative 3D World Modeling

Yifan Yin, Zehao Wen, Suyu Ye, Jieneng Chen+9

Johns Hopkins University · Lambda · University of Cambridge

3D World 3D Scene Generation World Models 3D Generation

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Recent advances in visual generative models have highlighted the promise of learning generative world models. However, most existing approaches frame world modeling as novel-view synthesis or future-frame prediction, emphasizing visual realism rather than the structured uncertainty required by embodied agents acting under partial observability. In this work, we propose a different perspective: world modeling as embodied belief inference in 3D space. From this view, a world model should not merely render what may be seen, but maintain and update an agent's belief about the unobserved 3D world as new observations are acquired. We identify several key capabilities for such models, including spatially consistent scene memory, multi-hypothesis belief sampling, sequential belief updating, and semantically informed prediction of unseen regions. We instantiate these ideas in 3D-Belief, a generative 3D world model that infers explicit, actionable 3D beliefs from partial observations and updates them online over time. Unlike prior visual prediction models, 3D-Belief represents uncertainty directly in 3D, enabling embodied agents to imagine plausible scene completions and reason over partially observed environments. We evaluate 3D-Belief on 2D visual quality for scene memory and unobserved-scene imagination, object- and scene-level 3D imagination using our proposed 3D-CORE benchmark, and challenging object navigation tasks in both simulation and the real world. Experiments show that 3D-Belief improves 2D and 3D imagination quality and downstream embodied task performance compared to state-of-the-art methods.

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Latest papers 692